[ODE] matching body orientation

[Erin Catto]

You can achieve this with a weld joint. I believe ODE calls this a "fixed
joint." You need to set a large CFM (softness) on that particular joint. The
larger the CFM, the softer the joint. You don't want to use beta (ERP) for
this effect (just use a normal version).

Erin

-----Original Message-----
From: ode-bounces at q12.org [mailto:ode-bounces at q12.org] On Behalf Of Graham
Fyffe
Sent: Friday, May 13, 2005 11:18 AM
To: ODE Mailing List
Subject: Re: [ODE] matching body orientation

I've had a similar desire, except I wanted to have a soft orientation
AND position constraint.  I would call it the "gumdrop" joint.  You
can twist it, you can pull on it, and it always springs back to the
initial configuration.  I wanted to be able to specifiy the
springiness in each axis of rotation and each axis of linear motion. 
I'm not sure if this is doable with only one value of 'beta', but
admittedly I have only a vague notion of how the constraint Jacobian
really works into things.

- Graham